WO2013166836A1 - Dispositif médical d'extrémité de bras mécanique - Google Patents

Dispositif médical d'extrémité de bras mécanique Download PDF

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Publication number
WO2013166836A1
WO2013166836A1 PCT/CN2012/086893 CN2012086893W WO2013166836A1 WO 2013166836 A1 WO2013166836 A1 WO 2013166836A1 CN 2012086893 W CN2012086893 W CN 2012086893W WO 2013166836 A1 WO2013166836 A1 WO 2013166836A1
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Prior art keywords
loading
unloading
needle
plate
hole
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PCT/CN2012/086893
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English (en)
Chinese (zh)
Inventor
张勤
徐策
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华南理工大学
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Publication of WO2013166836A1 publication Critical patent/WO2013166836A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00577—Ablation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B2018/1405—Electrodes having a specific shape
    • A61B2018/1425—Needle

Definitions

  • the invention relates to a mechanical arm end device, in particular to a needle-shaped medical device for assisting tumor ablation surgery Automatic loading and unloading and guiding medical mechanical arm end devices.
  • the orientation of the lesion and the skin positioning point and the depth of the puncture needle are measured by means of an instrument such as a CT/MRI scanning device.
  • the position of the lesion is measured on the cross section of the human body, and the best selection is made in this level.
  • the needle position and the needle angle are determined by the three-dimensional conformation of the needle level, the needle angle and the needle depth. The precise position of the needle.
  • the procedure of the puncture procedure is to take the patient from CT/MRI. After the scan level is removed, when the patient leaves C T
  • the doctor can only determine a general needle insertion direction according to his own judgment, perform a puncture, and then perform a CT scan to confirm.
  • the specific process is as follows:
  • CT images of the lesions were scanned before surgery for 3D reconstruction. Analyze the three-dimensional anatomical relationship between the tumor and the surrounding tissue structure, and design the tumor puncture target. In most cases, in order to determine the therapeutic effect, it is usually necessary to design a multi-target synchronous treatment plan.
  • the multi-target synchronous treatment plan technique should determine the number, angle, depth, skin needle point coordinate point and puncture of the puncture needle (ablation needle) before the technology. Target coordinates.
  • the patient re-scanned the CT after entering the operating room.
  • a positioning mark is attached to the surface of the tumor site prior to scanning, usually using a metal or plastic fence or positioning paper that can be developed on the CT image.
  • After scanning perform image analysis again, refer to the plan prepared before surgery, and carefully measure, finally determine the tumor target and skin needle point.
  • After completing the surgical design connect the target points to the skin puncture point one by one, corresponding two Coordinate parameters such as angle and depth between points are the surgical positioning puncture parameters.
  • the axis of the cursor on the patient's body surface can be opened by the axis of the CT device, and the projection line of the cursor on the patient's body surface is the X axis of the positioning coordinate, and the body surface positioning corresponding to the skin insertion point is designed.
  • the intersection of the number of marked points (Y-axis) and the CT cursor can be determined as the skin entry point, and the mark is marked on the skin with a non-fading marker.
  • the tumor target is punctured.
  • the angle of the needle is usually determined by the protractor to be as consistent as possible with the designed puncture angle.
  • the actual operation is often subject to large errors due to the freehand operation, and it is difficult for the beginner to successfully accurately target the target once.
  • repeated CT scans are needed to confirm and adjust the angle between the angle of the puncture needle and the plane of the human tomography. Thereby, the operation time is prolonged and the patient radiation dose is greatly increased. Due to the poor precision of repeated puncture and tumor target puncture, the complications of surgery increase, and directly affect the treatment effect.
  • the existing stereotactic technology is difficult to apply to other parts of the human body.
  • the main reason is that the soft tissue of other parts of the human body is not fixed relative to the surrounding bone tissue, making it difficult to obtain consistent coordinates between the image space and the patient space. Positioning. Therefore, the interventional puncture of other parts of the human body does not have a fixed guiding position/pose device to fix the direction of the puncture needle. Down, usually using real-time CT image guidance, but because there is no puncture guide positioning / posture, there is still a puncture The blindness, the puncture device in the doctor's hand has no objective and accurate position mark, it is difficult to fix the puncture needle on the predetermined trajectory during the puncture process.
  • Chinese Patent Application No. 200610029776.1 discloses a CT-positioned percutaneous interventional puncture instrument for guiding positioning of a puncture needle or other percutaneous insertion instrument in a CT guided percutaneous interventional procedure.
  • the device comprises a frame body and a cross bar fixed to the frame body, the cross bar is provided with an angle disc, the angle disc is provided with a position pointer, and the position pointer is provided with a hole;
  • the puncture guide device comprises a fixing block and a fixing bolt , bolt sleeve and puncture guide mounting hole, the fixing block and the fixing bolt are welded integrally, the bolt sleeve is sleeved on the fixing bolt, the fixing bolt and the sleeve are provided with the puncture guide mounting hole, and the puncture guide fixing device is installed On the hole of the position pointer.
  • the structure improves the puncture needle puncture positioning, but the position setting of the angle does not satisfy the actual effect of the use process, and the angle error is large.
  • Chinese Patent Application No. 201020300259.5 discloses a needle support bracket for positioning of a puncture needle under CT guidance and showing the orientation of the instrument.
  • the bracket comprises a base, a guiding support structure and a universal connecting rod.
  • the guiding supporting bracket structure comprises a supporting frame and a direction indicating plate.
  • the support frame is composed of a main body provided with a notch and an attachment body for blocking the notch of the main body.
  • the direction indicator plate is used to display the orientation of the instrument
  • the universal joint rod is used to connect the base and the guiding support structure.
  • the structure can accurately support and position the needle device, and the operation is simple and low in cost. However, all operations are performed by a doctor, the degree of automation is not high, and there is no fundamental change affecting the accuracy of the operation. Human factors do not reduce the operation time and solve the doctor's exposure to radiation.
  • the Chinese invention patent No. 200710179569.9 discloses a CT navigation minimally invasive surgical parallel robot for positioning/posing a puncture needle.
  • the robot consists of a double-layer static platform, a transmission mechanism, a cross guide and a puncture needle.
  • the double-layer static platforms are parallel to each other, and the cross rail has two guide sleeves respectively disposed at the upper slots of the upper static platform and the lower static platform, and the ball joint is connected at the intersection of the cross rails, and the upper portion of the puncture needle is connected to the upper ball.
  • the lower part of the puncture needle is connected to the lower ball joint.
  • the upper and lower ball joints respectively have two degrees of freedom, and the movement of the two ball joints determines the spatial position and posture of the puncture needle, and the puncture needle can move in the axial direction.
  • the advantages of the invention are that the joint accumulation error is small, the positioning accuracy is high, and the degree of automation is a certain degree.
  • the invention cannot automatically withdraw the puncture needle from the robot, and the subsequent manual puncture action is carried out due to the spatial interference of the robot. If the machine is directly replaced by the subsequent manual puncture operation, an abnormal situation may occur due to the operation. The process is completely enforced by the machine, lacking the doctor's presence and causing serious surgical injury and risk to the patient.
  • the present invention has been made in view of the above circumstances.
  • the main idea is that the human-machine coordinated division of labor for tumor puncture (ablation) surgery, mainly using the highly automated and high-precision features of the robot, combined with the present invention for the positioning/fixation of the puncture needle (ablation needle), and then through the invention to achieve the entire
  • the robot automatically evacuates the surgical area, and finally, the insertion of the puncture needle (ablation needle) is realized by the doctor's rich experience in the surgical field. This makes full use of the advantages of the machine and the human, so that the entire tumor ablation surgery is fully practical.
  • the technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and to provide a medical mechanical arm end device.
  • the invention utilizes The concept of human-machine coordinated division of labor, with the high degree of automation and high precision of the robot, realizes the rapid and precise guiding and positioning of the puncture needle (ablation needle) and the convenient evacuation of the operation area. This provides a large enough operating space for subsequent doctors to carry out the surgical procedure with their rich experience of the presence.
  • the specific technical solutions are as follows:
  • a medical robot arm end device includes a loading and unloading guide mechanism for loading and unloading a needle-shaped medical instrument, an assembly for mounting the loading and unloading guide mechanism, and a connecting plate for fixing the assembly to the end link of the robot arm.
  • the loading and unloading guide mechanism includes four identical clips and a loading and unloading transmission mechanism for driving the four identical clips.
  • each of the clips specifically includes a rotating shaft, an upper clamping plate, a lower clamping plate and one or more guiding sleeves for guiding the needle-shaped medical instrument, the upper clamping plate and the lower clamping plate have the same structure and one end.
  • a rotating shaft mounted on the rotating shaft, more than one semi-cylindrical hole is provided on both sides of the upper and lower plates, and each semi-cylindrical hole on the upper plate is on the same vertical axis as the corresponding one of the semi-cylindrical holes on the lower plate
  • a guide sleeve is mounted in a pair of semi-cylindrical holes in a vertical direction, and the loading and unloading transmission mechanism comprises four cylindrical spur gears of the same parameter, and a cylindrical spur gear is fixedly fixed to a clip. On the axis of rotation.
  • the widths of the upper and lower jaws are equal to the diameter of the pitch of the cylindrical spur gear, the outer diameter of the guide sleeve is larger than the inner diameter of the semi-cylindrical hole, and the guide sleeve is opened with two upper and lower rings, and the semi-annular groove The semi-cylindrical hole is embedded such that the guide sleeve is fixed between the upper plate and the lower plate.
  • the guide sleeve is provided with a guiding hole for guiding the needle-shaped medical instrument, and the cross section of the guiding hole is not limited to a specific shape, and the corresponding design can be performed according to the cross-sectional shape of the needle medical device.
  • the mating faces of the paired guide sleeves are planes with a high degree of flatness.
  • the distance between the upper and lower plates is 10 to 40 mm, and the diameter of the semi-cylindrical holes is 1 to 6 mm.
  • the inner diameter of the guide sleeve is 0.5 to 5 mm.
  • the assembly includes an upper pressing plate, a lower pressing plate, a bolt, a nut, and the upper pressing plate and the lower pressing plate are respectively provided with four mounting holes for mounting the loading and unloading guiding mechanism, and the entire loading and unloading guiding mechanism is fixed to the upper pressing plate by bolts and nuts. Between the lower plate and the lower plate, a specific rotating shaft is mounted in the mounting hole through a bearing.
  • the connecting plate is provided with a through hole for connecting the connecting plate and the upper pressing plate by bolts and nuts, and the connecting plate is provided with a hole through which the output shaft of the power supply machine passes, so that the motor output shaft and a clip are specifically The rotating shaft is connected.
  • the method for implementing the loading and unloading and guiding of the ablation needle or other similar needle-shaped medical device by using the end device of the invention is mainly embodied in any one of the motor (or other driving mode, not shown in the figure) driving the loading and unloading guiding mechanism.
  • the specific rotation directions of the adjacent clamps are reversed, so that the mating faces of the corresponding clamps on the corresponding guide sleeves are closely fitted to each other, forming A, B area (see Figure 10) or C, D (see Figure 11
  • the closed hole in the middle then insert the ablation needle to guide.
  • the rotating shaft is driven in the opposite direction, so that the clamps that have been fitted together are separated from each other (see Figure 12). ), then control the robotic arm to evacuate the entire device from the work area.
  • the present invention has the following advantageous effects compared with the prior art.
  • the medical mechanical arm end device is used for the diagnosis of a disease, especially an internal tumor, for a puncture needle (ablative needle)
  • the present invention combines the advantages of the machine and the person, reduces the technical content of the directional puncture, and even the beginner can accurately puncture the target of the lesion; reduces the number of punctures, effectively shortens the operation time; reduces the passiveness of the patient and the doctor
  • the amount of radiation that is actively received makes the accuracy of percutaneous targeted puncture significantly improved, and it is easy to automate.
  • the feasibility is higher than other methods that rely entirely on machines for surgery.
  • the present invention designs the transmission mechanism through rational and ingenious design. By reducing the number of power sources, only one power source is needed, which saves energy and greatly reduces the weight of the device.
  • FIG. 1 is a schematic view showing the structure of a mechanical arm carrier to which an end device of the present invention is attached.
  • FIG. 2 is a schematic view showing the overall structure of a medical mechanical arm end device of the present invention.
  • Figure 3 is a schematic view of the loading and unloading guide mechanism.
  • Figure 4 is a schematic diagram of the loading and unloading transmission in the loading and unloading guide mechanism.
  • Fig. 5 is a schematic view showing the structure of the clip in the loading and unloading guide mechanism.
  • Figure 6 is a schematic view of the structure of the guide sleeve.
  • Fig. 7 is a schematic structural view of a fixed loading and unloading guide mechanism.
  • Fig. 8 is a structural schematic view of a connecting plate connecting the loading and unloading guiding mechanism.
  • 9 to 12 are schematic views showing an implementation process of an embodiment of the present invention.
  • the invention as a medical machine arm end effector needs to be attached to a robot arm for automatic positioning and positioning.
  • the robot arm 5 enables the loading/unloading guide mechanism 1 of the present invention to achieve the desired position/orientation orientation, requiring a certain number of degrees of freedom. Since the degree of freedom of rotation of the needle around the axis is not required, only five degrees of freedom are required to complete the basic task, three of which are used for spatial positioning, and the other two are used for attitude adjustment, but in actual situations, generally need to be redundant. Five degrees of freedom for redundant control, which avoids the occurrence of abnormalities such as interference, joint limits, and singularities.
  • the medical robot arm end device includes a loading and unloading guide mechanism 1 (hereinafter referred to as a guide mechanism), an assembly 2 (hereinafter referred to as a component) for mounting the loading and unloading guide mechanism 1, and a member for fixing the assembly 2 to the robot arm 5.
  • a connecting plate 3 (hereinafter referred to as a connecting plate) on the end link 4.
  • the guiding mechanism 1 mainly realizes the clamping, supporting and guiding work of the needle-shaped medical device, and realizes the evacuation of the entire robot system by the reverse driving of the guiding mechanism 1 and the motion control of the mechanical arm 5, thereby providing a larger manual operation for subsequent operations. Operating space.
  • the guiding mechanism 1 includes four identical clamp members (11, 12, 13, 14) and a set-loading transmission mechanism 15 (hereinafter referred to as a transmission mechanism).
  • the guiding mechanism 1 is used for guiding and supporting the needle through the guiding sleeve 113 of the clip body (11, 12, 13, 14), and the required rotating motion is realized by the transmission mechanism 15, so that the guiding mechanism 1 pairs the needle medical device Clamping and evacuation.
  • the transmission principle is that the four identical spur gears are externally meshed, that is, the adjacent two clamps are in the same direction of rotation and opposite in direction, so that adjacent clamps are specifically bonded to each other.
  • the clips 11 and 14, 12, and 13 are attached to each other, or as shown in FIG. 11, the clips 11 and 12, 13 and 14 are attached to each other.
  • each clip specifically includes a rotating shaft 116, an upper clamping plate 111, a lower clamping plate 114, and one or more guiding sleeves 113 for guiding the needle-shaped medical instruments, and the structure of the upper clamping plate 111 and the lower clamping plate 114
  • the same and both ends are mounted on the rotating shaft, and both side edges of the upper clamping plate 111 and the lower clamping plate 114 are provided with more than one semi-cylindrical hole 112, and each semi-cylindrical hole on the upper clamping plate 111 and the lower clamping plate 114 are correspondingly
  • a semi-cylindrical hole is located on the same vertical axis, and a guide sleeve 113 is mounted in the pair of semi-cylindrical holes 112 in the vertical direction.
  • the transmission mechanism 15 includes four cylindrical spur gears of the same parameters (115, 125). , 135, 145) are in meshing engagement, and a cylindrical spur gear is correspondingly fixed to a clip-specific rotating shaft 116
  • the width L of the upper and lower clamping plates 111 and 114 and the cylindrical spur gears (115, 125, 135, 145) are equal to each other to ensure the diameter of the pitch circle d is equal to 11 and 12, 13 and 14 or 11 and 14, 12 and 13) do not interfere when performing the rotary motion under the action of the transmission system 15, and can make adjacent clamps specific (11 and 12, 13 and 14 or 11 and 14) 12 and 13) are closely fitted to completely close the corresponding pair of guide sleeves 113 to realize the functions of clamping, supporting and guiding.
  • the outer diameter of the guide sleeve 113 is larger than the diameter of the semi-cylindrical hole 112, and the guide sleeve 113 has two upper and lower semi-annular grooves 119, and the semi-annular groove is embedded in the semi-cylindrical hole 112, so that the guide sleeve 113 is fixed between the upper plate 111 and the lower plate 114.
  • the guiding sleeve 113 is provided with a guiding hole 118 for guiding the needle-shaped medical instrument.
  • the guiding hole is not limited to a specific shape, and can be correspondingly designed according to the cross-sectional shape of the needle medical device.
  • the mating surface of the sleeve 113 is a plane with a high degree of flatness.
  • the distance between the upper clamping plate 111 and the lower clamping plate 114 is 10-40 mm, which ensures that the needle medical device has suitable support and guiding length without affecting the working space;
  • the semi-cylindrical hole 112 has a diameter of 1 to 6 mm, and the guiding sleeve 113
  • the guiding hole 118 has a diameter of 0.5 to 5 mm, which is slightly larger than the cross-sectional diameter of the corresponding needle medical device, and ensures a proper guiding gap.
  • the assembly 2 includes an upper and a lower pressing plate 23, a bolt 22, and a nut 21.
  • the entire loading and unloading guide mechanism 1 is fixed in the space 25 by bolts 22 and nuts 21, and the specific rotating shaft 116 passes through the bearing. Not shown) is connected in the mounting hole 24 in the pressure plate 23.
  • the connecting plate 3 is provided with a mounting hole 31, and the end effector is fixed to the end of the robot arm 5 by a bolt 22 and a nut 21.
  • the connecting plate 3 is provided with a hole 32 through which the motor output shaft (not shown) passes, so that the motor output shaft is connected to the rotating shaft 116 of one of the clips (11, 12, 13, or 14). Power is input to the inventive device. This requires only one motor to achieve the desired motion, which saves the number of power sources and the quality of the invention.
  • the medical robot arm end device combined with the robot system and the doctor in the tumor ablation clinical operation steps are as follows:
  • the robot arm 5 and the utility model device are fixed beside the imaging device such as CT/MRI, the related imaging device system, the communication system, the control device, the puncture needle (ablation needle 101) and the like.
  • the doctor inserts the puncture needle (ablation needle) into the guide hole for guiding and supporting.
  • the needle tip touches the needle point, it is necessary to pierce the length of the needle body (set to l 0 ) into the human body for evacuation.
  • the needle maintains its original position and orientation.
  • CT/MRI scan again to confirm whether it hits the target. If it hits, it will be treated accordingly; if it is not hit, start again from 4).
  • the medical mechanical arm end device is used for guiding and supporting the needle device when the disease is diagnosed or treated, and after the guiding support is completed, the device can be evacuated by controlling the mechanical arm.
  • the operation area provides sufficient space for follow-up doctors' freehand surgery, increases the effective stroke of the needle, and better realizes man-machine coordination surgery.
  • the present invention combines the advantages of the machine and the person, reduces the technical content of the directional puncture, reduces the amount of radiation passively accepted by the patient and the doctor, and the accuracy of the percutaneous targeted puncture is significantly improved.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Surgical Instruments (AREA)

Abstract

La présente invention concerne un dispositif médical d'extrémité de bras mécanique qui comprend un mécanisme de guidage de chargement et déchargement (1) utilisé pour charger et décharger un accessoire médical en forme d'aiguille ; un ensemble (2) utilisé pour installer le mécanisme de guidage de chargement et déchargement (1) ; et une plaque de raccordement (3) utilisée pour fixer l'ensemble (2) sur une tige de raccordement (4) au niveau de l'extrémité d'un bras mécanique. Le mécanisme de guidage de chargement et déchargement (1) comprend quatre corps de fixation (11, 12, 13, et 14) ayant la même structure et un mécanisme de transmission et chargement et déchargement (15) destiné à entraîner les quatre mêmes corps de fixation (11, 12, 13, et 14) en rotation. Chaque corps de fixation comprend une tige de rotation (116), une plaque de serrage supérieure (111), une plaque de serrage inférieure (114) et une pluralité de manchons de guidage (113). Sous l'action du mécanisme de transmission (215), un trou fermé (112) est formé par les manchons de guidage correspondant (113) de deux corps de fixation adjacents de manière à guider un actionneur ; et après la fin du guidage, le mécanisme de transmission (15) est entraîné dans le sens inverse pour séparer les corps de fixation (11, 12, 13, et 14) les uns des autres. La présente invention est principalement utilisée pour le chargement, le déchargement et le guidage automatiques d'une aiguille d'ablation dans une opération d'ablation de tumeur, assure qu'un médecin dispose d'un espace d'opération suffisamment grand après le positionnement/la mise en place d'une aiguille d'ablation, et possède un grand degré d'automatisation, une grande précision, une simplicité de fonctionnement et permet une grande coordination entre les individus et une machine.
PCT/CN2012/086893 2012-05-09 2012-12-19 Dispositif médical d'extrémité de bras mécanique WO2013166836A1 (fr)

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CN201210141610.4A CN102670297B (zh) 2012-05-09 2012-05-09 一种医用机械臂末端装置
CN201210141610.4 2012-05-09

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CN109793573A (zh) * 2019-02-12 2019-05-24 北京理工大学 机械手末端装置及采用该装置的肺穿刺机器人
CN114886561A (zh) * 2022-05-24 2022-08-12 苏州铸正机器人有限公司 一种机器人手术路径规划装置及其规划方法

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CN102670297B (zh) * 2012-05-09 2014-07-02 华南理工大学 一种医用机械臂末端装置
CN103892912B (zh) * 2012-12-27 2016-06-01 上海西门子医疗器械有限公司 X线辅助的穿刺定位方法及系统
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CN105055021B (zh) * 2015-06-30 2017-08-25 华南理工大学 手术导航穿刺针的标定装置及其标定方法
CN106214253A (zh) * 2016-08-15 2016-12-14 苏州安术医疗科技有限公司 病灶部位诊断治疗一体机
CN108969093B (zh) * 2018-08-06 2024-03-19 广州复大医疗有限公司 用于肿瘤消融术中的探针固定装置
CN113633398B (zh) * 2021-06-30 2022-10-14 北京东软医疗设备有限公司 用于手术位快速锁定的机架臂及治疗设备
CN114041880B (zh) * 2021-11-24 2023-06-16 电子科技大学 一种医疗手术机器人的末端穿刺执行装置

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CN201299596Y (zh) * 2008-11-11 2009-09-02 南京麦迪柯科技有限公司 数字化微创机械臂手术系统
CN101933841A (zh) * 2010-08-30 2011-01-05 昆山市工业技术研究院有限责任公司 双极坐标四自由度并联机器人
CN201912169U (zh) * 2011-01-12 2011-08-03 中国科学院沈阳自动化研究所 夹持骨钻的机械臂末端管状夹持器
CN102670297A (zh) * 2012-05-09 2012-09-19 华南理工大学 一种医用机械臂末端装置
CN202619838U (zh) * 2012-05-09 2012-12-26 华南理工大学 一种医用机械臂末端装置

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CN106725854A (zh) * 2017-03-03 2017-05-31 王奎重 一种用于术中配合导航棒引导穿刺的导板及其制作方法
CN106725854B (zh) * 2017-03-03 2023-09-12 王奎重 一种用于术中配合导航棒引导穿刺的导板及其制作方法
CN109793573A (zh) * 2019-02-12 2019-05-24 北京理工大学 机械手末端装置及采用该装置的肺穿刺机器人
CN114886561A (zh) * 2022-05-24 2022-08-12 苏州铸正机器人有限公司 一种机器人手术路径规划装置及其规划方法
CN114886561B (zh) * 2022-05-24 2024-01-30 苏州铸正机器人有限公司 一种机器人手术路径规划装置及其规划方法

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